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<p><code>#include &lt;<a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>&gt;</code></p>
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Public Member Functions</h2></td></tr>
<tr class="memitem:af02cdbf09fcd47b041b96aaf34e5ac38"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#af02cdbf09fcd47b041b96aaf34e5ac38">setLcm</a> (state_estimator_lcmt &amp;lcm_data)</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:ad28dec217f9efc12b6f7fbeacbb5abbb"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#ad28dec217f9efc12b6f7fbeacbb5abbb">contactEstimate</a></td></tr>
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<tr class="memitem:ae7dc9d3ea4146a925188e5d76a011eb0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">position</a></td></tr>
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<tr class="memitem:a5604dd4d628e611c9826fc07fb2ecece"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">vBody</a></td></tr>
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<tr class="memitem:a02565a6497c4966d0b8225101a69828e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">orientation</a></td></tr>
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<tr class="memitem:aa5aa74305f72670494e6203653b3d37f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">omegaBody</a></td></tr>
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<tr class="memitem:aa8d72f4a283934e1f8717ab1df077332"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#aa8d72f4a283934e1f8717ab1df077332">rBody</a></td></tr>
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<tr class="memitem:ab4264e7f4daad8b4fb6f15d41268e618"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">rpy</a></td></tr>
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<tr class="memitem:a29be945dea0e213dddba8d22abd69dac"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">vWorld</a></td></tr>
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<tr class="memitem:a1e87f380c809140fce2045fbd9251cb1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../dd/df3/struct_state_estimate.html#a1e87f380c809140fce2045fbd9251cb1">aBody</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
struct StateEstimate&lt; T &gt;</h3>

<p>Result of state estimation </p>

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00023">23</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
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          <td class="memname">void <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::setLcm </td>
          <td>(</td>
          <td class="paramtype">state_estimator_lcmt &amp;&#160;</td>
          <td class="paramname"><em>lcm_data</em></td><td>)</td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00037">37</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                                              {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 3; i++) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      lcm_data.p[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">position</a>[i];</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      lcm_data.vWorld[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">vWorld</a>[i];</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      lcm_data.vBody[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">vBody</a>[i];</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      lcm_data.rpy[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">rpy</a>[i];</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      lcm_data.omegaBody[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">omegaBody</a>[i];</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      lcm_data.omegaWorld[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#a3148d1cc76cc531495ca806eeb6e51d3">omegaWorld</a>[i];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      lcm_data.quat[i] = <a class="code" href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">orientation</a>[i];</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="ttc" id="struct_state_estimate_html_ae7dc9d3ea4146a925188e5d76a011eb0"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#ae7dc9d3ea4146a925188e5d76a011eb0">StateEstimate::position</a></div><div class="ttdeci">Vec3&lt; T &gt; position</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00026">StateEstimatorContainer.h:26</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a5604dd4d628e611c9826fc07fb2ecece"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a5604dd4d628e611c9826fc07fb2ecece">StateEstimate::vBody</a></div><div class="ttdeci">Vec3&lt; T &gt; vBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00027">StateEstimatorContainer.h:27</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a3148d1cc76cc531495ca806eeb6e51d3"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a3148d1cc76cc531495ca806eeb6e51d3">StateEstimate::omegaWorld</a></div><div class="ttdeci">Vec3&lt; T &gt; omegaWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00033">StateEstimatorContainer.h:33</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a29be945dea0e213dddba8d22abd69dac"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a29be945dea0e213dddba8d22abd69dac">StateEstimate::vWorld</a></div><div class="ttdeci">Vec3&lt; T &gt; vWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00034">StateEstimatorContainer.h:34</a></div></div>
<div class="ttc" id="struct_state_estimate_html_ab4264e7f4daad8b4fb6f15d41268e618"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#ab4264e7f4daad8b4fb6f15d41268e618">StateEstimate::rpy</a></div><div class="ttdeci">Vec3&lt; T &gt; rpy</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00031">StateEstimatorContainer.h:31</a></div></div>
<div class="ttc" id="struct_state_estimate_html_aa5aa74305f72670494e6203653b3d37f"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#aa5aa74305f72670494e6203653b3d37f">StateEstimate::omegaBody</a></div><div class="ttdeci">Vec3&lt; T &gt; omegaBody</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00029">StateEstimatorContainer.h:29</a></div></div>
<div class="ttc" id="struct_state_estimate_html_a02565a6497c4966d0b8225101a69828e"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html#a02565a6497c4966d0b8225101a69828e">StateEstimate::orientation</a></div><div class="ttdeci">Quat&lt; T &gt; orientation</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00028">StateEstimatorContainer.h:28</a></div></div>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00035">35</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="aa4e35e30cff5a85525f8de36b577fac6"></a>
<div class="memitem">
<div class="memproto">
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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::aWorld</td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00035">35</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="ad28dec217f9efc12b6f7fbeacbb5abbb"></a>
<div class="memitem">
<div class="memproto">
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template&lt;typename T&gt; </div>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::contactEstimate</td>
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<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00025">25</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="aa5aa74305f72670494e6203653b3d37f"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::omegaBody</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00029">29</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="a3148d1cc76cc531495ca806eeb6e51d3"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::omegaWorld</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00033">33</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="a02565a6497c4966d0b8225101a69828e"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::orientation</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00028">28</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="ae7dc9d3ea4146a925188e5d76a011eb0"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::position</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00026">26</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="aa8d72f4a283934e1f8717ab1df077332"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::rBody</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00030">30</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

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<a class="anchor" id="ab4264e7f4daad8b4fb6f15d41268e618"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::rpy</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00031">31</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

</div>
</div>
<a class="anchor" id="a5604dd4d628e611c9826fc07fb2ecece"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::vBody</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00027">27</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

</div>
</div>
<a class="anchor" id="a29be945dea0e213dddba8d22abd69dac"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt;T&gt; <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt;::vWorld</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html#l00034">34</a> of file <a class="el" href="../../d8/d87/_state_estimator_container_8h_source.html">StateEstimatorContainer.h</a>.</p>

</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
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